Mobile object, positioning system, positioning program, and positioning method

ABSTRACT

A mobile object according to the present technology includes a sensor, a map location estimation unit, a relative location estimation unit, a relative location estimation unit, a GNSS reception unit, and an absolute location estimation unit. The sensor acquires surrounding information. The map location estimation unit estimates a self location in a local map on the basis of an output of the sensor. The GNSS reception unit receives global navigation satellite system (GNSS) positioning information using a first carrier phase distance. The absolute location estimation unit estimates a self absolute location on the basis of the GNSS positioning information using the first carrier phase distance, GNSS positioning information using a second carrier phase distance, and a relative location, the GNSS positioning information using the second carrier phase distance being received by another mobile object.

TECHNICAL FIELD

The present technology relates to a mobile object, a positioning system,a positioning program, and a positioning method, which estimate a selflocation by using radio waves received from artificial satellites.

BACKGROUND ART

Mobile objects such as cars can measure self locations by a globalnavigation satellite system (GNSS). In the field of autonomous drivingand the like, the accuracy in self location is important, and the GNSSis further expected to improve measurement accuracy. For example, PatentLiteratures 1 and 2 disclose the technologies related to self locationestimation for cars and the like.

A self location measuring method that has recently attracted attentionis a “high-accuracy GNSS using a carrier phase distance”. Thistechnology measures a phase of carrier waves received from a satelliteand transmits carrier phase data from a reference station to a mobilestation. The mobile station identifies a self location using the phasemeasured by itself and the carrier phase data transmitted from thereference station.

RTK-GPS, which is a typical technique using a carrier phase, allowserrors such as disturbance due to the ionosphere and a clock offset,which are caused in normal GPS, to be cancelled by using a doubledifference of measurement results and allows high-accuracy positioningat several-mm accuracy to be performed outside. In addition, as anothertechnique, there is a technique (PPP-RTK) of estimating in advance thedisturbance due to the ionosphere and the clock offset to thus performhigh-accuracy GNSS positioning without using a base station.

CITATION LIST Patent Literature

Patent Literature 1: Japanese Patent Application Laid-open No.2002-013940

Patent Literature 2: Japanese Patent Application Laid-open No.2005-031082

DISCLOSURE OF INVENTION Technical Problem

In the above-mentioned GNSS using a carrier phase, it is necessary toestimate an integer bias as initialization. If the receivers of thereference station and the mobile station each receive carrier waves, thephase thereof can be measured, but a wavenumber (integer bias) betweenthe receiver and the satellite is unknown. Solving the integer biasallows measurement of a self location.

There are two methods to be used for solving the integer bias. One ofthe methods is a method of using a reference station, the location ofwhich is known, as an anchor. However, this method has difficulty inpreparing a sufficient number of reference stations. The PPP-RTK existsas a technique of solving this problem, but it also needs a plurality ofmovement observations in order to stabilize estimation and needs time byminutes. This estimation is a necessary process each time the locationis missed during driving in a tunnel, for example.

In order to accelerate the estimation, there is a method of performingobservation with a plurality of receivers being in rigid fixation. Inthis method, however, the plurality of receivers needs to be separatedfrom one another at a sufficient distance, and there is a physicalrestriction by a device equipped with the receiver.

In view of the circumstances as described above, it is an object of thepresent technology to provide a mobile object, a positioning system, apositioning program, and a positioning method, which are capable ofperforming a high-accuracy self location estimation at high speed byusing GNSS including a carrier phase.

Solution to Problem

In order to achieve the object described above, a mobile objectaccording to an embodiment of the present technology includes a sensor,a map location estimation unit, a relative location estimation unit, arelative location estimation unit, a GNSS reception unit, and anabsolute location estimation unit.

The sensor acquires surrounding information.

The map location estimation unit estimates a self location in a localmap on the basis of an output of the sensor.

The GNSS reception unit receives global navigation satellite system(GNSS) positioning information using a first carrier phase distance.

The absolute location estimation unit estimates a self absolute locationon the basis of the GNSS positioning information using the first carrierphase distance, GNSS positioning information using a second carrierphase distance, and the relative location, the GNSS positioninginformation using the second carrier phase distance being received bythe other mobile object.

According to this configuration, the mobile object can estimate arelative location with respect to the other mobile object by sharing thelocal map with the other mobile object and can estimate a self absolutelocation by using the relative locations, GNSS positioning informationusing a carrier phase distance (GNSS positioning information using firstcarrier phase distance), which is received by the GNSS reception unit,and GNSS positioning information using a carrier phase distance (GNSSpositioning information using second carrier phase distance), which isreceived by the other mobile object. This allows high-accuracy selflocation estimation to be performed at high speed when the GNSSpositioning using carrier phase distances is performed.

The sensor may be an image sensor capable of capturing an image.

The map location estimation unit may extract a feature point in a firstcaptured image captured by the image sensor, and estimate the selflocation in the local map from a landmark included in the local map anda change of the feature point due to movement of the mobile object.

The mobile object is capable of estimating the self location in thelocal map on the basis of a first captured image captured by an imagesensor.

The relative location estimation unit estimates the relative locationfrom the self location in the local map, the self location beingestimated by the map location estimation unit, and a location of theother mobile object in the local map, the location of the other mobileobject being received from the other mobile object.

The mobile object is capable of receiving the location of the othermobile object in the local map from the other mobile object andestimating relative locations of the mobile object and the other mobileobject.

The map location estimation unit may receive a second captured imagefrom the other mobile object, the second captured image being capturedby an image sensor of the other mobile object, and may further estimatea location of the other mobile object in the local map.

The relative location estimation unit may estimate the relative locationfrom the self location in the local map, the self location beingestimated by the map location estimation unit, and the location of theother mobile object in the local map.

The mobile object may receive a second captured image captured by theother mobile object from the other mobile object and estimate thelocation of the other mobile object in the local map, instead ofreceiving the location of the other mobile object in the local map fromthe other mobile object.

The mobile object may further include a map description unit thatcreates the landmark by using a time change of the feature point and theself location in the local map, the self location being estimated by themap location estimation unit.

This configuration makes it possible to increase the number of landmarksto be used for estimating a map location by the mobile object continuingthe GNSS positioning using a carrier phase distance.

The first captured image and the second captured image may be imagescaptured at the same time.

The first captured image and the second captured image may be imagescaptured at different times or may be images captured at the same timeas long as the images include the same landmark.

The mobile object may further include an initial absolute locationestimation unit that selects a potential location on the basis ofgeneral solitary positioning without using a distance, the potentiallocation being calculated from the GNSS positioning information usingthe first carrier phase distance.

The GNSS reception unit is capable of performing solitary positioning(general GNSS positioning) in addition to the GNSS positioning using acarrier phase distance and capable of estimating a rough location of themobile object from a result of the positioning. The initial absolutelocation estimation unit is capable of narrowing potential locations bythe GNSS positioning using a carrier phase distance on the basis of therough location of the mobile object.

The mobile object may further include a communication unit that receivesthe GNSS positioning information using the second carrier phasedistance, and the communication unit may receive the GNSS positioninginformation using the second carrier phase distance from the othermobile object.

The mobile object may directly receive the GNSS positioning informationusing the second carrier phase distance, which is received by the othermobile object, from the other mobile object through vehicle-to-vehiclecommunication.

The mobile object may further include a communication unit that receivesthe GNSS positioning information using the second carrier phasedistance, and the communication unit may receive the GNSS positioninginformation using the second carrier phase distance from a server.

The other mobile object is capable of transmitting the received GNSSpositioning information using the second carrier phase distance to theserver, and the mobile object may receive the GNSS positioninginformation using the second carrier phase distance from the server.

In order to achieve the object described above, a positioning systemaccording to an embodiment of the present technology include a firstmobile object and a second mobile object.

The first mobile object includes a first sensor that acquiressurrounding information, a first map location estimation unit thatestimates a self location in a local map on the basis of an output ofthe first sensor, a relative location estimation unit that estimates,from a location of a second mobile object in the local map and the selflocation in the local map, a self relative location with respect to thesecond mobile object, a first GNSS reception unit that receives globalnavigation satellite system (GNSS) positioning information using a firstcarrier phase distance, a first communication unit that receives GNSSpositioning information using a second carrier phase distance that isreceived by the second mobile object, and an absolute locationestimation unit that estimates a self absolute location on the basis ofthe GNSS positioning information using the first carrier phase distance,the GNSS positioning information using the second carrier phasedistance, and the relative location.

The second mobile object includes a second sensor that acquiressurrounding information, a second GNSS reception unit that receives theGNSS positioning information using the second carrier phase distance,and a second communication unit that transmits the GNSS positioninginformation using the second carrier phase distance to the firstcommunication unit.

The first mobile object may further includes a first communication unitthat receives the GNSS positioning information using the second carrierphase distance, and the second mobile object may further includes asecond communication unit that transmits the GNSS positioninginformation using the second carrier phase distance to the firstcommunication unit.

The second mobile object may further include a second map locationestimation unit that estimates the location of the second mobile objectin the local map on the basis of an output of the second sensor.

In order to achieve the object described above, a positioning systemaccording to an embodiment of the present technology include a firstmobile object, a second mobile object, and a server.

The first mobile object includes a first sensor that acquiressurrounding information, and a first GNSS reception unit that receivesglobal navigation satellite system (GNSS) positioning information usinga first carrier phase distance.

The second mobile object includes a second sensor that acquiressurrounding information, and a second GNSS reception unit that receivesGNSS positioning information using a second carrier phase distance.

The server includes a map location estimation unit that estimates alocation of the first mobile object in a local map on the basis of anoutput of the first sensor and estimates a location of the second mobileobject in the local map on the basis of an output of the second sensor,a relative location estimation unit that estimates, from the location ofthe first mobile object in the local map and the location of the secondmobile object in the local map, a relative location of the first mobileobject with respect to the second mobile object, and an absolutelocation estimation unit that estimates an absolute location of thefirst mobile object on the basis of the GNSS positioning informationusing the first carrier phase distance, the GNSS positioning informationusing the second carrier phase distance, and the relative location.

In order to achieve the object described above, a positioning programaccording to an embodiment of the present technology causes aninformation processing apparatus to function as a map locationestimation unit, a relative location estimation unit, and an absolutelocation estimation unit.

The map location estimation unit estimates a self location in a localmap on the basis of an output of a sensor that acquires surroundinginformation.

The relative location estimation unit estimates, from a location ofanother mobile object in the local map and the self location in thelocal map, a self relative location with respect to the other mobileobject.

The absolute location estimation unit estimates a self absolute locationon the basis of global navigation satellite system (GNSS) positioninginformation using a first carrier phase distance, GNSS positioninginformation using a second carrier phase distance, and the relativelocation, the GNSS positioning information using the first carrier phasedistance being received by a GNSS reception unit, the GNSS positioninginformation using the second carrier phase distance being received bythe other mobile object.

In order to achieve the object described above, a positioning methodaccording to an embodiment of the present technology includes:estimating, by a map location estimation unit, a self location in alocal map on the basis of an output of a sensor that acquiressurrounding information; estimating, by a relative location estimationunit, from a location of another mobile object in the local map and theself location in the local map, a self relative location with respect tothe other mobile object; and estimating, by an absolute locationestimation unit, a self absolute location on the basis of globalnavigation satellite system (GNSS) positioning information using a firstcarrier phase distance, GNSS positioning information using a secondcarrier phase distance, and the relative location, the GNSS positioninginformation using the first carrier phase distance being received by aGNSS reception unit, the GNSS positioning information using the secondcarrier phase distance being received by the other mobile object.

Advantageous Effects of Invention

As described above, according to the present technology, it is possibleto provide a mobile object, a positioning system, a positioning program,and a positioning method, which are capable of performing ahigh-accuracy self location estimation at high speed by using GNSSpositioning including a carrier phase. Note that the effects describedherein are not necessarily limited and any one of the effects describedin this disclosure may be produced.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic diagram showing the general outline of GNSS usinga carrier phase distance.

FIG. 2 is a schematic diagram showing a phase difference of carrierwaves in the GNSS using the carrier phase distance.

FIG. 3 is a schematic diagram showing potential locations of a mobilestation by the GNSS using the carrier phase distance.

FIG. 4 is a schematic diagram showing a configuration of a positioningsystem according to this embodiment.

FIG. 5 is a block diagram showing a schematically functionalconfiguration example of a vehicle control system that is an example ofa mobile object control system to which the present technology can beapplied.

FIG. 6 is a block diagram showing a functional configuration of thepositioning system according to this embodiment.

FIG. 7 is a schematic diagram of a local map of the positioning system.

FIG. 8 is an example of a first captured image, which is captured by afirst mobile object of the positioning system, and feature pointsextracted from the first captured image.

FIG. 9 is a schematic diagram showing a change of the first capturedimage by movement of the first mobile object of the positioning system.

FIG. 10 is a schematic diagram showing a location relationship betweenthe first mobile object and landmark points in the positioning system.

FIG. 11 is a schematic diagram showing estimation of relative locationsby sharing a local map between the first mobile object and a secondmobile object in the positioning system.

FIG. 12 is a schematic diagram showing estimation of absolute locationsof the first mobile object and the second mobile object in thepositioning system.

FIG. 13 is a schematic diagram showing a method of creating a local mapin the positioning system.

FIG. 14 is a block diagram showing a functional configuration of apositioning system having another configuration according to thisembodiment.

FIG. 15 is a schematic diagram showing a configuration of a positioningsystem having another configuration according to this embodiment.

FIG. 16 is a block diagram showing a functional configuration of thepositioning system.

MODE(S) FOR CARRYING OUT THE INVENTION

A positioning system according to this embodiment will be described.

[Regarding RTK-GPS]

Description will be given on a real time kinematic-global positioningsystem (RTK-GPS) that is an example of a GNSS using a carrier phase.

FIG. 1 is a schematic diagram of a general RTK-GPS. The RTK-GPS includesa satellite 1010, a reference station 1020, and a mobile station 1030.The reference station 1020 is fixed to a specific ground-based location,and the mobile station 1030 is a mobile object such as a car.

As shown in the figure, the reference station 1020 and the mobilestation 1030 each receive carrier waves H from the satellite 1010 andmeasure a phase. The reference station 1020 transmits carrier phase dataD, which includes a self location and a result of the phase measurementto the mobile station 1030 by wireless communication or the like. Themobile station 1030 can measure a self location from a result of its ownphase measurement and the received carrier phase data.

Use of the difference in carrier phase (single difference) of thereference station 1020 and the mobile station 1030 with respect to thesingle satellite 1010 cancels out a clock error of the satellite 1010.In addition, use of the difference (double difference) between twosatellites 1010 having different single differences of the referencestation 1020 and the mobile station 1030 cancels out delays due to thetroposphere, the ionosphere, and the like, in addition to the clockerror. This allows a location to be highly accurately measured outdoorsat several-mm accuracy.

Specifically, in order to determine the location of the mobile station1030, it is necessary to estimate an integer bias. FIG. 2 is a schematicdiagram showing a phase difference of carrier waves. As shown in thefigure, in a case where a phase difference S between the referencestation 1020 and the mobile station 1030 is measured, the mobile station1030 is present at a location at which the phase difference with respectto the reference station 1020 is S, whereas a wavenumber (integer bias)between the mobile station 1030 and the satellite 1010 is unknown. Forthat reason, the mobile station 1030 is present at any of potentiallocations at which the phase difference with respect to the referencestation 1020 is S, as shown in FIG. 2.

FIG. 3 is a schematic diagram showing potential locations P at which thephase difference with respect to the reference station 1020 is S, inwhich a carrier wave line transmitted from a satellite 1010A isrepresented by a line L1, and carrier waves transmitted from a satellite1010B are represented by a line L2. An interval between the lines L1 andan interval between the lines L2 (wavelength of carrier waves) are 19cm, for example.

In a case where the reference station 1020 is at a location of anintersection between the line L1 and the line L2 and the phasedifference in carrier waves between the reference station 1020 and themobile station 1030 is zero, the mobile station 1030 is present at alocation at which the phase difference is zero with respect to thereference station 1020, that is, the intersection between the line L1and the line L2 is a potential location P. If the location of thereference station 1020 is known, a potential location P at which themobile station 1030 is present can be identified by observation of achange in location with time.

In such a manner, in the general RTK-GPS, the mobile station canestimate its own location by acquiring the carrier phase data includingthe location of the reference station and the result of the phasemeasurement from a reference station, the location of which is known.However, in a case where the RTK-GPS is used over a wide area, it isdifficult to install the reference station. In addition, for anothertechnology, GNSS positioning using a carrier phase without a basestation by calculating an impact from the ionosphere and the like inadvance is also present, but both of them need estimation by minutes inorder to acquire an integer value bias.

The positioning system according to this embodiment allows a selflocation estimation by highly accurate GNSS positioning using a carrierphase distance at high speed.

[Regarding Positioning System]

FIG. 4 is a schematic diagram showing a configuration of a positioningsystem 200 according to this embodiment. As shown in the figure, thepositioning system 200 includes a first mobile object 210 and a secondmobile object 220. Note that the positioning system 200 may include alarger number of mobile objects.

The first mobile object 210 and the second mobile object 220 only needto be movable and are typically cars. In addition, the first mobileobject 210 and the second mobile object 220 may be, for example, drones,agricultural machines, or electronic apparatuses.

The first mobile object 210 includes a first image sensor 211, a firstGNSS reception unit 212, a first communication unit 213, and a firstinformation processing unit 214. In addition, the second mobile object220 includes a second image sensor 221, a second GNSS reception unit222, a second communication unit 223, and a second informationprocessing unit 224.

The first image sensor 211 is a sensor capable of capturing an image ofthe surrounding, typically, the front of the first mobile object 210.The first image sensor 211 outputs the captured image (hereinafter,first captured image) to the first information processing unit 214. Thefirst GNSS reception unit 212 receives GNSS positioning informationusing a carrier phase distance and solitary positioning information froma satellite and outputs them to the first information processing unit214.

The first communication unit 213 performs communication with the secondcommunication unit 223. The communication method is not particularlylimited, but it is, for example, wireless communication. The firstinformation processing unit 214 is connected to the first image sensor211, the first GNSS reception unit 212, and the first communication unit213 and executes information processing, which will be described later,on the basis of those outputs.

The second image sensor 221 is a sensor capable of capturing an image ofthe surrounding, typically, the front of the second mobile object 220.The second image sensor 221 outputs the captured image (hereinafter,second captured image) to the second information processing unit 224.The second GNSS reception unit 222 receives GNSS positioning informationusing a carrier phase distance and solitary positioning information froma satellite and outputs them to the second information processing unit224.

The second communication unit 223 performs communication with the firstcommunication unit 213. The second information processing unit 214 isconnected to the second image sensor 221, the second GNSS reception unit222, and the second communication unit 223 and executes informationprocessing information processing to be described on the basis of thoseoutputs.

Note that the first communication unit 213 and the second communicationunit 223 may perform direct communication with each other as shown inFIG. 4 or may perform communication via equipment or facilities thatmediate communication.

[Specific Example of Mobile Object]

The first mobile object 210 and the second mobile object 220 can beassumed to include a mobile object control system. FIG. 5 is a blockdiagram showing a schematically functional configuration example of avehicle control system 100 that is an example of a mobile object controlsystem to which the present technology can be applied.

Note that, hereinafter, a vehicle including the vehicle control system100 is referred to as an own car or an own vehicle in the case ofdistinguishing the vehicle from other vehicles.

The vehicle control system 100 includes an input unit 101, a dataacquisition unit 102, a communication unit 103, in-vehicle equipment104, an output control unit 105, an output unit 106, a drivetraincontrol unit 107, a drivetrain system 108, a body control unit 109, abody system 110, a storage unit 111, and an autonomous driving controlunit 112.

The input unit 101, the data acquisition unit 102, the communicationunit 103, the output control unit 105, the drivetrain control unit 107,the body control unit 109, the storage unit 111, and the autonomousdriving control unit 112 are connected to each other via a communicationnetwork 121. For example, the communication network 121 includes a busor a vehicle-mounted communication network compliant with any standardsuch as a controller area network (CAN), a local interconnect network(LIN), a local area network (LAN), FlexRay (registered trademark), orthe like. Note that, sometimes the units of the vehicle control system100 may be directly connected to each other without using thecommunication network 121.

Note that, hereinafter, description of the communication network 121will be omitted in the case where the units of the vehicle controlsystem 100 communicate with each other via the communication network121. For example, simple description indicating that the input unit 101and the autonomous driving control unit 112 communicate with each otherwill be given, in the case where the input unit 101 and the autonomousdriving control unit 112 communicate with each other via thecommunication network 121.

The input unit 101 includes an apparatus used by a passenger to inputvarious kinds of data, instructions, or the like. For example, the inputunit 101 includes an operation device such as a touchscreen, a button, amicrophone, a switch, or a lever, an operation device capable ofinputting information by sound, gesture, or the like that is differentfrom manual operation, or the like. Alternatively, for example, theinput unit 101 may be external connection equipment such as a remotecontrol apparatus using infrared or another radio wave, or mobileequipment or wearable equipment compatible with operation of the vehiclecontrol system 100. The input unit 101 generates an input signal on thebasis of data, an instruction, or the like input by a passenger, andsupplies the generated input signal to the respective units of thevehicle control system 100.

The data acquisition unit 102 includes various kinds of sensors or thelike for acquiring data to be used in processes performed by the vehiclecontrol system 100, and supplies the acquired data to the respectiveunits of the vehicle control system 100.

For example, the data acquisition unit 102 includes various kinds ofsensors for detecting a state or the like of the own car. Specifically,for example, the data acquisition unit 102 includes a gyro sensor, anacceleration sensor, an inertial measurement unit (IMU), and sensors orthe like for detecting an amount of operation of an accelerator pedal,an amount of operation of a brake pedal, an steering angle of a steeringwheel, the number of revolutions of an engine, the number of revolutionsof a motor, rotational speeds of wheels, and the like.

In addition, for example, the data acquisition unit 102 includes variouskinds of sensors for detecting information regarding the outside of theown car. Specifically, for example, the data acquisition unit 102includes an imaging apparatus such as a time-of-flight (ToF) camera, astereo camera, a monocular camera, an infrared camera, or anothercamera. In addition, for example, the data acquisition unit 102 includesan environment sensor for detecting weather, a meteorologicalphenomenon, or the like, and a surrounding information detection sensorfor detecting objects around the own car. For example, the environmentsensor includes a raindrop sensor, a fog sensor, a sunshine sensor, asnow sensor, or the like. The surrounding information detection sensorincludes an ultrasonic sensor, a radar, a LiDAR (Light Detection andRanging, Laser Imaging Detection and Ranging) sensor, a sonar, or thelike.

Moreover, for example, the data acquisition unit 102 includes variouskinds of sensors for detecting a current location of the own car.Specifically, for example, the data acquisition unit 102 includes aglobal navigation satellite system (GNSS) receiver or the like. The GNSSreceiver receives GNSS signals from a GNSS satellite.

In addition, for example, the data acquisition unit 102 includes variouskinds of sensors for detecting information regarding the inside of theown car. Specifically, for example, the data acquisition unit 102includes an imaging apparatus that captures an image of a driver, abiological sensor that detects biological information of the driver, amicrophone that collects sound within the interior of the vehicle, orthe like. The biological sensor is, for example, disposed on a seatsurface, the steering wheel, or the like, and detects biologicalinformation of a passenger sitting in a seat or the driver holding thesteering wheel.

The communication unit 103 communicates with the in-vehicle equipment104, various kinds of vehicle exterior equipment, a server, a referencestation, or the like, transmits data supplied by the respective units ofthe vehicle control system 100, and supplies the received data to therespective units of the vehicle control system 100. Note that, acommunication protocol supported by the communication unit 103 is notspecifically limited. It is possible for the communication unit 103 tosupport a plurality of types of communication protocols.

For example, the communication unit 103 establishes wireless connectionwith the in-vehicle equipment 104 by using a wireless LAN, Bluetooth(registered trademark), near-field communication (NFC), wireless USB(WUSB), or the like. In addition, for example, the communication unit103 establishes wired connection with the in-vehicle equipment 104 byusing Universal Serial Bus (USB), High-Definition Multimedia Interface(HDMI) (registered trademark), Mobile High-Definition Link (MHL), or thelike via a connection terminal (and a cable if necessary) (notillustrated).

Moreover, for example, the communication unit 103 communicates withequipment (for example, an application server or a control server)present on an external network (for example, the Internet, a cloudnetwork, or a company-specific network) via a reference station or anaccess point. Moreover, for example, the communication unit 103communicates with a terminal (for example, a terminal of a pedestrian ora store, or a machine-type communication (MTC) terminal) present in thevicinity of the own car by using a peer-to-peer (P2P) technology. Inaddition, for example, the communication unit 103 carries out V2Xcommunication such as vehicle-to-vehicle communication,vehicle-to-infrastructure communication, vehicle-to-home communicationbetween the own car and a home, or vehicle-to-pedestrian communication.In addition, for example, the communication unit 103 includes a beaconreceiver, receives a radio wave or an electromagnetic wave transmittedfrom a radio station installed on a road or the like, and acquiresinformation regarding the current location, traffic congestion, trafficregulation, necessary time, or the like.

The in-vehicle equipment 104 includes mobile equipment or wearableequipment possessed by a passenger, information equipment carried intoor attached to the own car, a navigation apparatus that searches for aroute to any destination, and the like, for example.

The output control unit 105 controls output of various kinds ofinformation to the passenger of the own car or to an outside of the owncar. For example, the output control unit 105 generates an output signalthat includes at least one of visual information (such as image data) oraudio information (such as sound data), supplies the output signal tothe output unit 106, and thereby controls output of the visualinformation and the audio information from the output unit 106.Specifically, for example, the output control unit 105 combines piecesof image data captured by different imaging apparatuses included in thedata acquisition unit 102, generates a bird's-eye image, a panoramicimage, or the like, and supplies an output signal including thegenerated image to the output unit 106. In addition, for example, theoutput control unit 105 generates sound data including warning sound, awarning message, or the like with regard to danger such as collision,contact, or entrance into a danger zone, and supplies an output signalincluding the generated sound data to the output unit 106.

The output unit 106 includes an apparatus capable of outputting thevisual information or the audio information to the passenger or theoutside of the own car. For example, the output unit 106 includes adisplay apparatus, an instrument panel, an audio speaker, headphones, awearable device such as an eyeglass type display worn by the passengeror the like, a projector, a lamp, or the like. Instead of an apparatusincluding a usual display, the display apparatus included in the outputunit 106 may be, for example, an apparatus that displays the visualinformation within a field of view of the driver such as a head-updisplay, a transparent display, an apparatus having an augmented reality(AR) function, or the like.

The drivetrain control unit 107 generates various kinds of controlsignals, supplies them to the drivetrain system 108, and therebycontrols the drivetrain system 108. In addition, as necessary, thedrivetrain control unit 107 supplies the control signals to structuralelements other than the drivetrain system 108 and notifies them of acontrol state of the drivetrain system 108 or the like.

The drivetrain system 108 includes various kinds of apparatuses relatedto the drivetrain of the own car. For example, the drivetrain system 108includes a driving force generation apparatus for generating drivingforce of an internal combustion engine, a driving motor, or the like, adriving force transmitting mechanism for transmitting the driving forceto wheels, a steering mechanism for adjusting the steering angle, abraking apparatus for generating braking force, an anti-lock brakingsystem (ABS), an electronic stability control (ESC) system, an electricpower steering apparatus, or the like.

The body control unit 109 generates various kinds of control signals,supplies them to the body system 110, and thereby controls the bodysystem 110. In addition, as necessary, the body control unit 109supplies the control signals to structural elements other than the bodysystem 110 and notifies them of a control state of the body system 110or the like.

The body system 110 includes various kinds of body apparatuses providedto a vehicle body. For example, the body system 110 includes a keylessentry system, a smart key system, a power window apparatus, a powerseat, the steering wheel, an air conditioner, various kinds of lamps(such as headlamps, tail lamps, brake lamps, direction-indicator lamps,and fog lamps), and the like.

The storage unit 111 includes read only memory (ROM), random accessmemory (RAM), a magnetic storage device such as a hard disc drive (HDD)or the like, a semiconductor storage device, an optical storage device,a magneto-optical storage device, or the like, for example. The storageunit 111 stores various kinds of programs, data, and the like used byrespective units of the vehicle control system 100. For example, thestorage unit 111 stores map data such as a three-dimensionalhigh-accuracy map, a global map, and a local map. The high-accuracy mapis a dynamic map or the like. The global map has lower accuracy than thehigh-accuracy map but covers wider area than the high-accuracy map. Thelocal map includes information regarding surroundings of the own car.

The autonomous driving control unit 112 performs control with regard toautonomous driving such as autonomous travel or driving assistance.Specifically, for example, the autonomous driving control unit 112performs cooperative control intended to implement functions of anadvanced driver-assistance system (ADAS) which include collisionavoidance or shock mitigation for the own car, following driving basedon a following distance, vehicle speed maintaining driving, a warning ofcollision of the own car, a warning of deviation of the own car from alane, or the like. In addition, for example, it is also possible for theautonomous driving control unit 112 to perform cooperative controlintended for autonomous driving that makes the vehicle travelautonomously without depending on the operation of the driver or thelike. The autonomous driving control unit 112 includes a detection unit131, a self location estimation unit 132, a situation analysis unit 133,a planning unit 134, and a behavior control unit 135.

The detection unit 131 detects various kinds of information necessary tocontrol autonomous driving. The detection unit 131 includes a vehicleexterior information detection unit 141, a vehicle interior informationdetection unit 142, and a vehicle state detection unit 143.

The vehicle exterior information detection unit 141 performs a processof detecting information regarding an outside of the own car on thebasis of data or signals from the respective units of the vehiclecontrol system 100. For example, the vehicle exterior informationdetection unit 141 performs a detection process, a recognition process,and a tracking process of objects around the own car, and a process ofdetecting distances to the objects. Examples of the detection targetobject include a vehicle, a person, an obstacle, a structure, a road, atraffic light, a traffic sign, a road sign, and the like. In addition,for example, the vehicle exterior information detection unit 141performs a process of detecting an ambient environment around the owncar. Examples of the ambient environment around the detection targetincludes weather, temperature, humidity, brightness, a road surfacecondition, and the like, for example. The vehicle exterior informationdetection unit 141 supplies data indicating results of the detectionprocesses to the self location estimation unit 132, a map analysis unit151, a traffic rule recognition unit 152, and a situation recognitionunit 153 of the situation analysis unit 133, an emergency event avoidingunit 171 of the behavior control unit 135, and the like.

The vehicle interior information detection unit 142 performs a processof detecting information regarding an inside of the vehicle on the basisof data or signals from the respective units of the vehicle controlsystem 100. For example, the vehicle interior information detection unit142 performs an authentication process and a recognition process of thedriver, a detection process of a state of the driver, a detectionprocess of a passenger, a detection process of a vehicle interiorenvironment, and the like. Examples of the state of the driver, which isa detection target, include a health condition, a degree ofconsciousness, a degree of concentration, a degree of fatigue, a gazedirection, and the like. Examples of the vehicle interior environment,which is a detection target, include temperature, humidity, brightness,smell, and the like. The vehicle interior information detection unit 142supplies data indicating results of the detection processes to thesituation recognition unit 153 of the situation analysis unit 133, theemergency event avoiding unit 171 of the behavior control unit 135, andthe like.

The vehicle state detection unit 143 performs a process of detecting astate of the own car on the basis of data or signals from the respectiveunits of the vehicle control system 100. Examples of the state of theown car, which is a detection target, includes speed, acceleration, asteering angle, presence/absence of abnormality, a content of theabnormality, a driving operation state, a position and inclination ofthe power seat, a state of a door lock, states of other vehicle-mountedequipment, and the like. The vehicle state detection unit 143 suppliesdata indicating results of the detection processes to the situationrecognition unit 153 of the situation analysis unit 133, the emergencyevent avoiding unit 171 of the behavior control unit 135, and the like.

The self location estimation unit 132 performs a process of estimating alocation, a posture, and the like of the own car on the basis of data orsignals from the respective units of the vehicle control system 100 suchas the vehicle exterior information detection unit 141 and the situationrecognition unit 153 of the situation analysis unit 133. In addition, asnecessary, the self location estimation unit 132 generates a local map(hereinafter, referred to as a self location estimation map) to be usedfor estimating a self location. For example, the self locationestimation map may be a high-accuracy map using a technology such assimultaneous localization and mapping (SLAM). The self locationestimation unit 132 supplies data indicating a result of the estimationprocess to the map analysis unit 151, the traffic rule recognition unit152, and the situation recognition unit 153 of the situation analysisunit 133, and the like. In addition, the self location estimation unit132 causes the storage unit 111 to store the self location estimationmap.

The situation analysis unit 133 performs a process of analyzing asituation of the own car and a situation around the own car. Thesituation analysis unit 133 includes the map analysis unit 151, thetraffic rule recognition unit 152, the situation recognition unit 153,and a situation prediction unit 154.

The map analysis unit 151 performs a process of analyzing various kindsof maps stored in the storage unit 111 and constructs a map includinginformation necessary for an autonomous driving process while using dataor signals from the respective units of the vehicle control system 100such as the self location estimation unit 132 and the vehicle exteriorinformation detection unit 141 as necessary. The map analysis unit 151supplies the constructed map to the traffic rule recognition unit 152,the situation recognition unit 153, and the situation prediction unit154, and to a route planning unit 161, an action planning unit 162, abehavior planning unit 163 of the planning unit 134, and the like.

The traffic rule recognition unit 152 performs a process of recognizingtraffic rules around the own car on the basis of data or signals fromthe respective units of the vehicle control system 100 such as the selflocation estimation unit 132, the vehicle exterior information detectionunit 141, and the map analysis unit 151. The recognition process makesit possible to recognize locations and states of traffic lights aroundthe own car, contents of traffic control around the own car, a drivablelane, and the like, for example. The traffic rule recognition unit 152supplies data indicating a result of the recognition process to thesituation prediction unit 154 and the like.

The situation recognition unit 153 performs a process of recognizingsituations related to the own car on the basis of data or signals fromthe respective units of the vehicle control system 100 such as the selflocation estimation unit 132, the vehicle exterior information detectionunit 141, the vehicle interior information detection unit 142, thevehicle condition detection unit 143, and the map analysis unit 151. Forexample, the situation recognition unit 153 performs a process ofrecognizing a situation of the own car, a situation around the own car,a situation of the driver of the own car, and the like. In addition, asnecessary, the situation recognition unit 153 generates a local map(hereinafter, referred to as a situation recognition map) to be used forrecognizing the situation around the own car. For example, the situationrecognition map may be an occupancy grid map.

Examples of the situation of the own car, which is a recognition target,include a location, a posture, and movement (such as speed,acceleration, or a movement direction, for example) of the own car,presence/absence of abnormality, contents of the abnormality, and thelike. Examples of the situation around the own car, which is arecognition target, include types and locations of surrounding stillobjects, types, locations, and movement (such as speed, acceleration,and movement directions, for example) of surrounding moving objects,structures of surrounding roads, conditions of road surfaces, ambientweather, temperature, humidity, brightness, and the like. Examples ofthe state of the driver, which is a recognition target, include a healthcondition, a degree of consciousness, a degree of concentration, adegree of fatigue, movement of gaze, driving operation, and the like.

The situation recognition unit 153 supplies data indicating a result ofthe recognition process (including the situation recognition map asnecessary) to the self location estimation unit 132, the situationprediction unit 154, and the like. In addition, the situationrecognition unit 153 causes the storage unit 111 to store the situationrecognition map.

The situation prediction unit 154 performs a process of predicting asituation related to the own car on the basis of data or signals fromthe respective units of the vehicle control system 100 such as the mapanalysis unit 151, the traffic rule recognition unit 152, and thesituation recognition unit 153. For example, the situation predictionunit 154 performs a process of predicting a situation of the own car, asituation around the own car, a situation of the driver, and the like.

Examples of the situation of the own car, which is a prediction target,includes behavior of the own car, occurrence of abnormality, a drivabledistance, and the like. Examples of the situation around the own car,which is a prediction target, includes behavior of moving objects,change in states of traffic lights, change in environments such asweather, and the like around the own car. Examples of the situation ofthe driver, which is a prediction target, includes behavior, a healthcondition, and the like of the driver.

The situation prediction unit 154 supplies data indicating results ofthe prediction processes to the route planning unit 161, the actionplanning unit 162, and the behavior planning unit 163 of the planningunit 134 and the like in addition to the data from the traffic rulerecognition unit 152 and the situation recognition unit 153.

The route planning unit 161 plans a route to a destination on the basisof data or signals from the respective units of the vehicle controlsystem 100 such as the map analysis unit 151 and the situationprediction unit 154. For example, the route planning unit 161 sets aroute from the current location to a specified destination on the basisof the global map. In addition, for example, the route planning unit 161appropriately changes the route on the basis of situations such astraffic congestion, accidents, traffic regulation, and construction, anda health condition and the like of the driver. The route planning unit161 supplies data indicating the planned route to the action planningunit 162 and the like.

The action planning unit 162 planes an action of the own car for drivingsafely in the route planned by the route planning unit 161 within aplanned time period, on the basis of data or signals from the respectiveunits of the vehicle control system 100 such as the map analysis unit151 and the situation prediction unit 154. For example, the actionplanning unit 162 plans start, stop, a driving direction (for example,forward, backward, left turn, right turn, change of direction, etc.), adriving lane, driving speed, overtaking, and the like. The actionplanning unit 162 supplies data indicating the action planned for theown car to the behavior planning unit 163 and the like.

The behavior planning unit 163 plans behavior of the own car forachieving the action planned by the action planning unit 162 on thebasis of data or signals from the respective units of the vehiclecontrol system 100 such as the map analysis unit 151 and the situationprediction unit 154. For example, the behavior planning unit 163 plansacceleration, deceleration, a driving course, and the like. The behaviorplanning unit 163 supplies data indicating the planed behavior of theown car to an acceleration/deceleration control unit 172, a directioncontrol unit 173, and the like of the behavior control unit 135.

The behavior control unit 135 controls behavior of the own car. Thebehavior control unit 135 includes the emergency event avoiding unit171, the acceleration/deceleration control unit 172, and the directioncontrol unit 173.

The emergency event avoiding unit 171 performs a process of detectingcollision, contact, entrance into a danger zone, or an emergency eventsuch as abnormality in the driver or abnormality in the vehicle on thebasis of detection results obtained by the vehicle exterior informationdetection unit 141, the vehicle interior information detection unit 142,and the vehicle state detection unit 143. In the case where occurrenceof an emergency event is detected, the emergency event avoiding unit 171plans behavior of the own car such as a quick stop or a quick turn foravoiding the emergency event. The emergency event avoiding unit 171supplies data indicating the planned behavior of the own car to theacceleration/deceleration control unit 172, the direction control unit173, or the like.

The acceleration/deceleration control unit 172 controlsacceleration/deceleration to achieve the behavior of the own car plannedby the behavior planning unit 163 or the emergency event avoiding unit171. For example, the acceleration/deceleration control unit 172computes a control goal value of the driving force generation apparatusor the braking apparatus to achieve the planned acceleration,deceleration, or quick stop, and supplies a control instructionindicating the computed control goal value to the drivetrain controlunit 107.

The direction control unit 173 controls a direction to achieve thebehavior of the own car planned by the behavior planning unit 163 or theemergency event avoiding unit 171. For example, the direction controlunit 173 computes a control goal value of the steering mechanism toachieve a driving course or quick turn planned by the behavior planningunit 163 or the emergency event avoiding unit 171, and supplies acontrol instruction indicating the computed control goal value to thedrivetrain control unit 107.

The vehicle control system 100 has the configuration as described above.The first image sensor 211, the second image sensor 221, the first GNSSreception unit 212, and the second GNSS reception unit 222 of the firstmobile object 210 and the second mobile object 220 are included in thedata acquisition unit 102 of the vehicle control system 100.

In addition, the first communication unit 213 and the secondcommunication unit 223 of the first mobile object 210 and the secondmobile object 220 correspond to the communication unit 103 of thevehicle control system 100. In addition, the first informationprocessing unit 214 and the second information processing unit 214 ofthe first mobile object 210 and the second mobile object 220 correspondto the self location estimation unit of the vehicle control system 100.

Note that the configuration of the vehicle control system 100 is anexample. The first mobile object 210 and the second mobile object 220only need to achieve GNSS positioning including a carrier phasedistance, which will be described later, and do not necessarily have thesame configuration as that of the vehicle control system 100.

[Functional Configuration of Positioning System]

FIG. 6 is a block diagram showing a functional configuration of thepositioning system 200.

As shown in the figure, the first mobile object 210 includes the firstimage sensor 211, the first GNSS reception unit 212, a first maplocation estimation unit 231, a relative location estimation unit 232,an initial absolute location estimation unit 233, an absolute locationestimation unit 234, a map description unit 235, and a local map 236.

In addition, the second mobile object 220 includes the second imagesensor 221, the second GNSS reception unit 222, a second map locationestimation unit 241, and an absolute location reception unit 242.

FIG. 7 is a schematic diagram showing the general outline of the localmap 236. As shown in the figure, the local map 236 includes landmarkpoints M. The landmark points M are characteristic points in the image,and three-dimensional coordinates of the points are known. In addition,the local map 236 also includes two-dimensional coordinates of thefeature points when the landmark points M are seen from a specificdirection. The landmark points M may be set in advance or may be set bythe map description unit 235 as will be described later.

The first map location estimation unit 231 estimates a location of thefirst mobile object 210 with respect to the local map 236 (hereinafter,first map location). The map location estimation unit 231 can estimatethe first map location by using simultaneous localization and mapping(SLAM).

Specifically, the first map location estimation unit 231 extractsfeature points in the first captured image captured by the first imagesensor 211. FIG. 8 is a schematic diagram showing a first captured imageG and feature points R extracted by the first map location estimationunit 231.

The first map location estimation unit 231 can extract the featurepoints by any image process. Moreover, the first map location estimationunit 231 matches the extracted feature points R with the feature points(landmark points M seen from specific direction) included in the localmap 236.

In addition, the first map location estimation unit 231 calculatesmovement of the feature points based on movement of the first mobileobject 210. FIG. 9 is a schematic diagram showing a first captured imageG1 and a first captured image G2. The first captured image G2 is theframe next to the first captured image G1. A frame F shown in each ofthe first captured image G1 and the first captured image G2 indicatesthe same range of a subject.

As shown in the figure, the first captured image changes in accordancewith the movement of the first mobile object 210, and the feature pointsalso move. The amount of movement and a movement direction differdepending on a location relationship between the first image sensor 211and the subject.

FIG. 10 is a schematic diagram showing a location relationship betweenthe first mobile object 210 and the landmark points M. The first maplocation estimation unit 231 can identify the first map location fromthree-dimensional coordinates of the landmark points M and the change infeature points in association with the movement of the first mobileobject 210 as shown in the figure.

Note that the first map location estimation unit 231 can also specify amap location by a technique other than SLAM, such as Visual Odometry.The first map location estimation unit 231 supplies the estimated firstmap location to the relative location estimation unit 232.

In addition, in the second mobile object 220, the second map locationestimation unit 241 estimates a location of the second mobile object 220with respect to the local map 236 (hereinafter, second map location).The second map location estimation unit 241 can acquire the local map236 from the first mobile object 210 via the second communication unit223.

The second map location estimation unit 241 extracts feature points inthe second captured image captured by the second image sensor 221 as inthe first map location estimation unit 231 and matches the extractedfeature points with the feature points included in the local map 236.Moreover, the second map location estimation unit 241 can estimate asecond map location from the three-dimensional coordinates of thelandmark points M and the change in feature points in association withthe movement of the second mobile object 220.

The second map location estimation unit 241 supplies the estimatedsecond map location to the relative location estimation unit 232 via thesecond communication unit 223.

The relative location estimation unit 232 estimates relative locationsof the first mobile object 210 and the second mobile object 220. Therelative location estimation unit 232 can estimate the relativelocations of the first mobile object 210 and the second mobile object220 from the first map location and the second map location.

FIG. 11 is a schematic diagram showing the estimation of relativelocations by sharing the local map 236. As shown in the figure, therelative location estimation unit 232 can estimate relative locations ofthe first mobile object 210 and the second mobile object 220 from alocation relationship of each of the first mobile object 210 and thesecond mobile object 220 with respect to the landmark points M in thelocal map 236. The relative location estimation unit 232 supplies theestimated relative locations to the absolute location estimation unit234.

The first GNSS reception unit 212 supplies GNSS positioning informationincluding the measured carrier phase distance (hereinafter, GNSSpositioning information using first carrier phase distance) to theinitial absolute location estimation unit 233. In addition, the firstGNSS reception unit 212 also supplies the measured solitary positioninginformation to the initial absolute location estimation unit 233.

The initial absolute location estimation unit 233 selects a potentiallocation (see FIG. 3), which is calculated from the GNSS positioninginformation using the first carrier phase distance, on the basis of thesolitary positioning information. The initial absolute locationestimation unit 233 can exclude potential locations far from a roughexistence location of the first mobile object 210, which is obtainedfrom the solitary positioning information, and can select a potentiallocation close to the rough existence location of the first mobileobject. The initial absolute location estimation unit 233 outputs theselected potential location and the GNSS positioning information usingthe first carrier phase distance to the absolute location estimationunit 234.

In the second mobile object 220, the second GNSS reception unit 222supplies GNSS positioning information including the measured carrierphase distance (hereinafter, GNSS positioning information using secondcarrier phase distance) to the absolute location estimation unit 234 viathe second communication unit 223 and the first communication unit 213.

The absolute location estimation unit 234 estimates absolute locationsof the first mobile object 210 and the second mobile object 220. Theabsolute location estimation unit 234 can estimate the absolutelocations of the first mobile object 210 and the second mobile object220 on the basis of the relative locations of the first mobile object210 and the second mobile object 220, the GNSS positioning informationusing the first carrier phase distance, and the GNSS positioninginformation using the second carrier phase distance.

FIG. 12 is a schematic diagram showing the method of estimating theabsolute locations of the first mobile object 210 and the second mobileobject 220 by the absolute location estimation unit 234. Potentiallocations P1 in the figure are potential locations of the first GNSSreception unit 212 and are locations having the same phase as the phaseof the carrier waves measured by the first GNSS reception unit 212.Potential location P2 in the figure are potential locations of thesecond GNSS reception unit 222 and are locations having the same phaseas the phase of the carrier waves measured by the second GNSS receptionunit 222.

As shown in the figure, if a location P3 at which the potential locationP1 and the potential location P2 overlap is identified, a solution of aninteger bias is obtained, and the absolute location estimation unit 234can estimate absolute locations of the first GNSS reception unit 212 andthe second GNSS reception unit 222, that is, absolute locations of thefirst mobile object 210 and the second mobile object 220.

The absolute location estimation unit 234 supplies the estimatedabsolute location of the first mobile object 210 to the map descriptionunit 235. In addition, the absolute location estimation unit 234supplies the estimated absolute location of the second mobile object 220to the absolute location reception unit 242 via the second communicationunit 223.

The absolute location reception unit 242 receives the absolute locationof the second mobile object 220 from the first mobile object 210, andthus the second mobile object 220 can acquire a self absolute location.

The map description unit 235 can add information to the local map 236 byusing the absolute location and a map relative location of the firstmobile object 210 as will be described later.

The positioning system 200 estimates the absolute locations of the firstmobile object 210 and the second mobile object 220 as described above.As described above, the positioning system 200 can solve the integerbias by using the relative locations of the first mobile object 210 andthe second mobile object 220 and can perform GNSS positioning using ahigh-speed carrier phase distance.

Note that, in the above description, the absolute location estimationunit 234 of the first mobile object 210 estimates the absolute locationsof the first mobile object 210 and the second mobile object 220 andtransmits the absolute location to the second mobile object 220, but theconfiguration of the positioning system 200 is not limited thereto. Thesecond mobile object 220 may also have a configuration similar to thatof the first mobile object 210 and may acquire the first map locationand the GNSS positioning information using the first carrier phasedistance from the first mobile object 210 and estimate its own absolutelocation.

In addition, it is assumed that the first mobile object 210 and thesecond mobile object 220 communicate with each other via the firstcommunication unit 213 and the second communication unit 223, but thefirst communication unit 213 and the second communication unit 223 maycommunicate with each other via a server. For example, the secondcommunication unit 223 may transmit the GNSS positioning informationusing the second carrier phase distance and the second map location tothe server, and the first communication unit 213 may receive the GNSSpositioning information using the second carrier phase distance and thesecond map location from the server.

In addition, the server may also include the local map 236, and thefirst mobile object 210 may acquire the local map 236 from the servervia the first communication unit 213 and use it.

Moreover, the first map location estimation unit 231 and the second maplocation estimation unit 241 estimate the first map location and thesecond map location by using the captured images captured by the firstimage sensor 211 and the second image sensor 221 and the local map, butthe present technology is not limited thereto.

Each of the first mobile object 210 and the second mobile object 220 mayinclude a surrounding information detection sensor (above-mentionedLiDAR or the like) other than the image sensor, and the first maplocation estimation unit 231 and the second map location estimation unit241 may estimate the first map location and the second map location byusing outputs of the surrounding information detection sensors and thelocal map.

[Regarding Map Location Estimation Unit and Map Description Unit]

FIG. 13 is a schematic diagram showing a method of creating the localmap 236 by the first map location estimation unit 231 and the mapdescription unit 235.

As shown in the figure, the first map location estimation unit 231extracts the feature points from the first captured image acquired fromthe first image sensor 211 and matches the extracted feature points withthe feature points included in the local map 236 (St1).

Subsequently, the first map location estimation unit 231 estimates apose (location and orientation) of the first mobile object 210 in thelocal map 236 on the basis of a matching result of the feature points(St2). The first map location estimation unit 231 supplies the estimatedpose of the first mobile object 210 to the local map 236.

The map description unit 235 estimates a disparity due to the movementof the first mobile object 210 from the amount of movement of thefeature points between frames of the captured image (St3) and createsthe locations of the feature points in a three-dimensional space, thatis, landmark points, on the basis of the absolute location of the firstmobile object 210, the first map location, and the disparity. The mapdescription unit 235 describes the created landmark points in the localmap 236 and updates the local map 236.

The first map location estimation unit 231 and the map description unit235 can create the local map 236 as described above.

[Regarding Image Capturing Time]

As described above, the first map location estimation unit 231 and thesecond map location estimation unit 241 estimate the first map locationand the second map location by using the landmark points M included inthe first captured image and the second captured image. In addition, therelative location estimation unit 232 estimates relative locations ofthe first mobile object 210 and the second mobile object 220 on thebasis of the first map location and the second map location.

Here, the first captured image and the second captured image only needto include specific landmark points M, and the first captured image andthe second captured image do not need to be images simultaneouslycaptured. In other words, the first image sensor 211 may capture a firstcaptured image with the landmark points M being included in the field ofview, and after a certain period of time, the second image sensor 221may capture a second captured image with the landmark points M beingincluded in the field of view.

Also in this case, the absolute locations of the first mobile object 210and the second mobile object 220 can be estimated on the basis of theGNSS positioning information using the first carrier phase distance inthe first map location at a specific time and the GNSS positioninginformation using the second carrier phase distance in the second maplocation at a different time.

[Another Configuration of Positioning System]

The positioning system according to this embodiment may also beconfigured as follows. FIG. 14 is a schematic diagram showing afunctional configuration of a positioning system 300 according to thisembodiment. Note that in the configurations of the positioning system300, configurations similar to those in the positioning system 200described above are denoted by similar reference symbols and descriptionthereof will be omitted. As shown in the figure, the first mobile object210 includes a map location estimation unit 251 instead of the first maplocation estimation unit 231.

The map location estimation unit 251 estimates a first map location fromthe first captured image and the local map 236. In addition, the maplocation estimation unit 251 acquires a second captured image from thesecond mobile object 220, the second captured image being captured bythe second image sensor 221, and estimates a second map location fromthe second captured image and the local map 236.

The map location estimation unit 251 supplies the estimated first maplocation and second map location to the relative location estimationunit 232. In such a manner, it may be possible to transmit the secondcaptured image from the second mobile object 220 to the first mobileobject 210 and to estimate a second map location in the first mobileobject 210.

In addition, the positioning system according to this embodiment may beachieved by the first mobile object 210, the second mobile object 220,and a server. FIG. 15 is a schematic diagram of a positioning system 400including the first mobile object 210, the second mobile object 220, anda server 260. Note that in the configurations of the positioning system400, configurations similar to those of the positioning system 200described above are denoted by similar reference symbols and descriptionthereof will be omitted.

As shown in the figure, the first mobile object 210 and the secondmobile object 220 are connected to the server 260 via the firstcommunication unit 213 and the second communication unit 223,respectively. FIG. 16 is a schematic diagram showing a functionalconfiguration of the positioning system 400.

The first mobile object 210 includes the first image sensor 211, thefirst GNSS reception unit 212, and an absolute location reception unit215, and the second mobile object 220 includes the second image sensor221, the second GNSS reception unit 222, and an absolute locationreception unit 225.

The server 260 includes a map location estimation unit 251, a relativelocation estimation unit 232, an initial absolute location estimationunit 233, an absolute location estimation unit 234, a map descriptionunit 235, and a local map 236.

In this configuration, a first captured image captured by the firstimage sensor 211 and a second captured image captured by the secondimage sensor 221 are transmitted to the map location estimation unit251, and the map location estimation unit 251 estimate a first maplocation and a second map location.

In addition, solitary positioning information and GNSS positioninginformation using a first carrier phase distance, which are received bythe first GNSS reception unit 212, are transmitted to the absolutelocation estimation unit 234 via the initial absolute locationestimation unit 233. Moreover, GNSS positioning information using asecond carrier phase distance, which is received by the second GNSSreception unit 222, is transmitted to the absolute location estimationunit 234.

The absolute location estimation unit 234 can estimate absolutelocations of the first mobile object 210 and the second mobile object220 on the basis of the relative locations of the first mobile object210 and the second mobile object 220, the GNSS positioning informationusing the first carrier phase distance, and the GNSS positioninginformation of the second carrier phase distance.

The absolute location of the first mobile object 210 is transmitted fromthe server 260 to the absolute location reception unit 215, and theabsolute location of the second mobile object 220 is transmitted fromthe server 260 to the absolute location reception unit 225. In such amanner, the first mobile object 210 and the second mobile object 220 canacquire the absolute locations thereof.

In addition, at least one of the first mobile object 210 or the secondmobile object 220 may include a map location estimation unit and supplythe first map location and the second map location, instead of thecaptured images, to the relative location estimation unit 232.

Note that the present technology can have the following configuration.

(1)

A mobile object, including:

a sensor that acquires surrounding information;

a map location estimation unit that estimates a self location in a localmap on the basis of an output of the sensor;

a relative location estimation unit that estimates, from a location ofanother mobile object in the local map and the self location in thelocal map, a self relative location with respect to the other mobileobject;

a GNSS reception unit that receives global navigation satellite system(GNSS) positioning information using a first carrier phase distance; and

an absolute location estimation unit that estimates a self absolutelocation on the basis of the GNSS positioning information using thefirst carrier phase distance, GNSS positioning information using asecond carrier phase distance, and the relative location, the GNSSpositioning information using the second carrier phase distance beingreceived by the other mobile object.

(2)

The mobile object according to (1), in which

the sensor is an image sensor capable of capturing an image, and

the map location estimation unit extracts a feature point in a firstcaptured image captured by the image sensor, and estimates the selflocation in the local map from a landmark included in the local map anda change of the feature point due to movement of the mobile object.

(3)

The mobile object according to (2), in which

the relative location estimation unit estimates the relative locationfrom the self location in the local map, the self location beingestimated by the map location estimation unit, and a location of theother mobile object in the local map, the location of the other mobileobject being received from the other mobile object.

(4)

The mobile object according to (2), in which

the map location estimation unit receives a second captured image fromthe other mobile object, the second captured image being captured by animage sensor of the other mobile object, and further estimates alocation of the other mobile object in the local map, and

the relative location estimation unit estimates the relative locationfrom the self location in the local map, the self location beingestimated by the map location estimation unit, and the location of theother mobile object in the local map.

(5)

The mobile object according to any one of (2) to (4), further including

a map description unit that creates the landmark by using a time changeof the feature point and the self location in the local map, the selflocation being estimated by the map location estimation unit.

(6)

The mobile object according to (4), in which

the first captured image and the second captured image are imagescaptured at the same time.

(7)

The mobile object according to any one of (1) to (6), further including

an initial absolute location estimation unit that selects a potentiallocation on the basis of solitary positioning, the potential locationbeing calculated from the GNSS positioning information using the firstcarrier phase distance.

(8)

The mobile object according to any one of (1) to (7), further including

a communication unit that receives the GNSS positioning informationusing the second carrier phase distance, in which

the communication unit receives the GNSS positioning information usingthe second carrier phase distance from the other mobile object.

(9)

The mobile object according to any one of (1) to (7), further including

a communication unit that receives the GNSS positioning informationusing the second carrier phase distance, in which

the communication unit receives the GNSS positioning information usingthe second carrier phase distance from a server.

(10)

A positioning system, including:

a first mobile object including

-   -   a first sensor that acquires surrounding information,    -   a first map location estimation unit that estimates a self        location in a local map on the basis of an output of the first        sensor,    -   a relative location estimation unit that estimates, from a        location of a second mobile object in the local map and the self        location in the local map, a self relative location with respect        to the second mobile object,    -   a first GNSS reception unit that receives global navigation        satellite system (GNSS) positioning information using a first        carrier phase distance, and    -   an absolute location estimation unit that estimates a self        absolute location on the basis of the GNSS positioning        information using the first carrier phase distance, GNSS        positioning information using a second carrier phase distance,        and the relative location, the GNSS positioning information        using the second carrier phase distance being received by the        second mobile object; and

a second mobile object including

-   -   a second sensor that acquires surrounding information, and    -   a second GNSS reception unit that receives the GNSS positioning        information using the second carrier phase distance.

(11)

The positioning system according to (10), in which

the first mobile object further includes a first communication unit thatreceives the GNSS positioning information using the second carrier phasedistance, and

the second mobile object further includes a second communication unitthat transmits the GNSS positioning information using the second carrierphase distance to the first communication unit.

(12)

The positioning system according to (10) or (11), in which

the second mobile object further includes a second map locationestimation unit that estimates the location of the second mobile objectin the local map on the basis of an output of the second sensor.

(13)

A positioning system, including:

a first mobile object including

-   -   a first sensor that acquires surrounding information, and    -   a first GNSS reception unit that receives global navigation        satellite system (GNSS) positioning information using a first        carrier phase distance;

a second mobile object including

-   -   a second sensor that acquires surrounding information, and    -   a second GNSS reception unit that receives GNSS positioning        information using a second carrier phase distance; and

a server including

-   -   a map location estimation unit that estimates a location of the        first mobile object in a local map on the basis of an output of        the first sensor and estimates a location of the second mobile        object in the local map on the basis of an output of the second        sensor,    -   a relative location estimation unit that estimates, from the        location of the first mobile object in the local map and the        location of the second mobile object in the local map, a        relative location of the first mobile object with respect to the        second mobile object, and    -   an absolute location estimation unit that estimates an absolute        location of the first mobile object on the basis of the first        RTK-GPS positioning information, the GNSS positioning        information using the second carrier phase distance, and the        relative location.

(14)

A positioning program that causes an information processing apparatus tofunction as:

a map location estimation unit that estimates a self location in a localmap on the basis of an output of a sensor that acquires surroundinginformation;

a relative location estimation unit that estimates, from a location ofanother mobile object in the local map and the self location in thelocal map, a self relative location with respect to the other mobileobject; and

an absolute location estimation unit that estimates a self absolutelocation on the basis of global navigation satellite system (GNSS)positioning information using a first carrier phase distance, GNSSpositioning information using a second carrier phase distance, and therelative location, the GNSS positioning information using the firstcarrier phase distance being received by a GNSS reception unit, the GNSSpositioning information using the second carrier phase distance beingreceived by the other mobile object.

(15)

A positioning method, including:

estimating, by a map location estimation unit, a self location in alocal map on the basis of an output of a sensor that acquiressurrounding information;

estimating, by a relative location estimation unit, from a location ofanother mobile object in the local map and the self location in thelocal map, a self relative location with respect to the other mobileobject; and

estimating, by an absolute location estimation unit, a self absolutelocation on the basis of global navigation satellite system (GNSS)positioning information using a first carrier phase distance, GNSSpositioning information using a second carrier phase distance, and therelative location, the GNSS positioning information using the firstcarrier phase distance being received by a GNSS reception unit, the GNSSpositioning information using the second carrier phase distance beingreceived by the other mobile object.

REFERENCE SIGNS LIST

-   200, 300, 400 positioning system-   210 first mobile object-   211 first image sensor-   212 first GNSS reception unit-   213 first communication unit-   214 first information processing unit-   220 second mobile object-   221 second image sensor-   222 second GNSS reception unit-   223 second communication unit-   224 information processing unit-   231 first map location estimation unit-   232 relative location estimation unit-   233 initial absolute location estimation unit-   234 absolute location estimation unit-   235 map description unit-   236 local map-   241 second map location estimation unit-   242 absolute location reception unit-   260 server

1. A mobile object, comprising: a sensor that acquires surroundinginformation; a map location estimation unit that estimates a selflocation in a local map on a basis of an output of the sensor; arelative location estimation unit that estimates, from a location ofanother mobile object in the local map and the self location in thelocal map, a self relative location with respect to the other mobileobject; a GNSS reception unit that receives global navigation satellitesystem (GNSS) positioning information using a first carrier phasedistance; and an absolute location estimation unit that estimates a selfabsolute location on a basis of the GNSS positioning information usingthe first carrier phase distance, GNSS positioning information using asecond carrier phase distance, and the relative location, the GNSSpositioning information using the second carrier phase distance beingreceived by the other mobile object.
 2. The mobile object according toclaim 1, wherein the sensor is an image sensor capable of capturing animage, and the map location estimation unit extracts a feature point ina first captured image captured by the image sensor, and estimates theself location in the local map from a landmark included in the local mapand a change of the feature point due to movement of the mobile object.3. The mobile object according to claim 2, wherein the relative locationestimation unit estimates the relative location from the self locationin the local map, the self location being estimated by the map locationestimation unit, and a location of the other mobile object in the localmap, the location of the other mobile object being received from theother mobile object.
 4. The mobile object according to claim 2, whereinthe map location estimation unit receives a second captured image fromthe other mobile object, the second captured image being captured by animage sensor of the other mobile object, and further estimates alocation of the other mobile object in the local map, and the relativelocation estimation unit estimates the relative location from the selflocation in the local map, the self location being estimated by the maplocation estimation unit, and the location of the other mobile object inthe local map.
 5. The mobile object according to claim 2, furthercomprising a map description unit that creates the landmark by using atime change of the feature point and the self location in the local map,the self location being estimated by the map location estimation unit.6. The mobile object according to claim 4, wherein the first capturedimage and the second captured image are images captured at the sametime.
 7. The mobile object according to claim 1, further comprising aninitial absolute location estimation unit that selects a potentiallocation on a basis of solitary positioning, the potential locationbeing calculated from the GNSS positioning information using the firstcarrier phase distance.
 8. The mobile object according to claim 1,further comprising a communication unit that receives the GNSSpositioning information using the second carrier phase distance, whereinthe communication unit receives the GNSS positioning information usingthe second carrier phase distance from the other mobile object.
 9. Themobile object according to claim 1, further comprising a communicationunit that receives the GNSS positioning information using the secondcarrier phase distance, wherein the communication unit receives the GNSSpositioning information using the second carrier phase distance from aserver.
 10. A positioning system, comprising: a first mobile objectincluding a first sensor that acquires surrounding information, a firstmap location estimation unit that estimates a self location in a localmap on a basis of an output of the first sensor, a relative locationestimation unit that estimates, from a location of a second mobileobject in the local map and the self location in the local map, a selfrelative location with respect to the second mobile object, a first GNSSreception unit that receives global navigation satellite system (GNSS)positioning information using a first carrier phase distance, and anabsolute location estimation unit that estimates a self absolutelocation on a basis of the GNSS positioning information using the firstcarrier phase distance, GNSS positioning information using a secondcarrier phase distance, and the relative location, the GNSS positioninginformation using the second carrier phase distance being received bythe second mobile object; and a second mobile object including a secondsensor that acquires surrounding information, and a second GNSSreception unit that receives the GNSS positioning information using thesecond carrier phase distance.
 11. The positioning system according toclaim 10, wherein the first mobile object further includes a firstcommunication unit that receives the GNSS positioning information usingthe second carrier phase distance, and the second mobile object furtherincludes a second communication unit that transmits the GNSS positioninginformation using the second carrier phase distance to the firstcommunication unit.
 12. The positioning system according to claim 10,wherein the second mobile object further includes a second map locationestimation unit that estimates the location of the second mobile objectin the local map on a basis of an output of the second sensor.
 13. Apositioning system, comprising: a first mobile object including a firstsensor that acquires surrounding information, and a first GNSS receptionunit that receives global navigation satellite system (GNSS) positioninginformation using a first carrier phase distance; a second mobile objectincluding a second sensor that acquires surrounding information, and asecond GNSS reception unit that receives GNSS positioning informationusing a second carrier phase distance; and a server including a maplocation estimation unit that estimates a location of the first mobileobject in a local map on a basis of an output of the first sensor andestimates a location of the second mobile object in the local map on abasis of an output of the second sensor, a relative location estimationunit that estimates, from the location of the first mobile object in thelocal map and the location of the second mobile object in the local map,a relative location of the first mobile object with respect to thesecond mobile object, and an absolute location estimation unit thatestimates an absolute location of the first mobile object on a basis ofthe GNSS positioning information using the first carrier phase distance,the GNSS positioning information using the second carrier phasedistance, and the relative location.
 14. A positioning program thatcauses an information processing apparatus to function as: a maplocation estimation unit that estimates a self location in a local mapon a basis of an output of a sensor that acquires surroundinginformation; a relative location estimation unit that estimates, from alocation of another mobile object in the local map and the self locationin the local map, a self relative location with respect to the othermobile object; and an absolute location estimation unit that estimates aself absolute location on a basis of global navigation satellite system(GNSS) positioning information using a first carrier phase distance,GNSS positioning information using a second carrier phase distance, andthe relative location, the GNSS positioning information using the firstcarrier phase distance being received by a GNSS reception unit, the GNSSpositioning information using the second carrier phase distance beingreceived by the other mobile object.
 15. A positioning method,comprising: estimating, by a map location estimation unit, a selflocation in a local map on a basis of an output of a sensor thatacquires surrounding information; estimating, by a relative locationestimation unit, from a location of another mobile object in the localmap and the self location in the local map, a self relative locationwith respect to the other mobile object; and estimating, by an absolutelocation estimation unit, a self absolute location on a basis of globalnavigation satellite system (GNSS) positioning information using a firstcarrier phase distance, GNSS positioning information using a secondcarrier phase distance, and the relative location, the GNSS positioninginformation using the first carrier phase distance being received by aGNSS reception unit, the GNSS positioning information using the secondcarrier phase distance being received by the other mobile object.